edges.h

   1 #ifndef __SPARROW_EDGES_H__
   2 #define __SPARROW_EDGES_H__
   3
   4 #define SAFETY_LAG 3;
   5 #define SIG_WEIGHT 2
   6
   7 /* for discarding outliers */
   8 #define OUTLIER_RADIUS 7
   9 #define OUTLIER_THRESHOLD (OUTLIER_RADIUS * OUTLIER_RADIUS)
  10
  11 #define BAD_PIXEL 0xffff
  12
  13 #define FL_DUMPFILE "/tmp/edges.dump"
  14
  15 #define COLOUR_QUANT  1
  16 #define COLOUR_MASK  (0xff >> COLOUR_QUANT)
  17
  18 /*XXX should dither */
  19
  20 typedef enum corner_status {
  21   CORNER_UNUSED,
  22   CORNER_PROJECTED,
  23   CORNER_EXACT,
  24   CORNER_SETTLED,
  25 } corner_status_t;
  26
  27 typedef enum edges_state {
  28   EDGES_FIND_NOISE,
  29   EDGES_FIND_LINES,
  30   EDGES_FIND_CORNERS,
  31   EDGES_WAIT_FOR_PLAY,
  32
  33   EDGES_NEXT_STATE,
  34 } edges_state_t;
  35
  36 #define USE_FLOAT_COORDS 1
  37
  38 #if USE_FLOAT_COORDS
  39 typedef float coord_t;
  40 typedef float coord_sum_t;
  41 #define QUANTISE_DELTA(d)((d) / LINE_PERIOD)
  42
  43 #else
  44 /* the mesh is stored in a fixed point notation.*/
  45 #define SPARROW_FIXED_POINT 9
  46
  47 typedef int coord_t;
  48 typedef gint64 coord_sum_t;
  49 #define QUANTISE_DELTA(d)(((d) + LINE_PERIOD / 2) / LINE_PERIOD)
  50
  51 #endif
  52
  53 typedef struct sparrow_estimator_s {
  54   int x1;
  55   int y1;
  56   int x2;
  57   int y2;
  58   int x3;
  59   int y3;
  60   //int mul; /* estimate: x1,y1 + mul * diff */
  61 } sparrow_estimator_t;
  62
  63 typedef struct sparrow_corner_s {
  64   coord_t x;
  65   coord_t y;
  66   /*dyr -> dy to next point right
  67    dxd ->dx to next point down */
  68   coord_t dxr;
  69   coord_t dyr;
  70   coord_t dxd;
  71   coord_t dyd;
  72   corner_status_t status;
  73 } sparrow_corner_t;
  74
  75 typedef struct sparrow_voter_s {
  76   coord_t x;
  77   coord_t y;
  78   guint32 signal;
  79 } sparrow_voter_t;
  80
  81 typedef struct sparrow_point_s {
  82   coord_t x;
  83   coord_t y;
  84 } sparrow_point_t;
  85
  86 typedef struct sparrow_cluster_s {
  87   int n;
  88   sparrow_voter_t voters[8];
  89 } sparrow_cluster_t;
  90
  91
  92 typedef union sparrow_signal_s {
  93   guint16 v_signal;
  94   guint16 h_signal;
  95 } sparrow_signal_t;
  96
  97
  98 typedef struct sparrow_intersect_s {
  99   guint16 lines[2];
 100   guint16 signal[2];
 101 } sparrow_intersect_t;
 102
 103 typedef struct sparrow_line_s {
 104   gint offset;
 105   sparrow_axis_t dir;
 106   gint index;
 107 } sparrow_line_t;
 108
 109 /*condensed version of <struct sparrow_find_lines_s> for saving: contains no
 110   pointers or other unnecessary things that might vary in size across
 111   architectures. */
 112 typedef struct sparrow_fl_condensed {
 113   gint32 n_vlines;
 114   gint32 n_hlines;
 115 } sparrow_fl_condensed_t;
 116
 117 typedef struct sparrow_find_lines_s {
 118   sparrow_line_t *h_lines;
 119   sparrow_line_t *v_lines;
 120   sparrow_line_t **shuffled_lines;
 121   int current;
 122   int n_lines;
 123   int n_vlines;
 124   int n_hlines;
 125   gint shift1;
 126   gint shift2;
 127   sparrow_intersect_t *map;
 128   sparrow_corner_t *mesh_mem;
 129   sparrow_corner_t *mesh;
 130   sparrow_corner_t *mesh_next;
 131   sparrow_cluster_t *clusters;
 132   IplImage *debug;
 133   IplImage *threshold;
 134   IplImage *working;
 135   IplImage *input;
 136   edges_state_t state;
 137 } sparrow_find_lines_t;
 138
 139
 140 #define DEBUG_FIND_LINES(fl)GST_DEBUG(          \
 141   "fl:\n"                                       \
 142   "  sparrow_line_t *h_lines: %p\n"             \
 143   "  sparrow_line_t *v_lines: %p\n"             \
 144   "  sparrow_line_t **shuffled_lines: %p\n"     \
 145   "  int current: %d\n"                         \
 146   "  int n_lines: %d\n"                         \
 147   "  int n_vlines: %d\n"                        \
 148   "  int n_hlines: %d\n"                        \
 149   "  gint shift1: %d\n"                         \
 150   "  gint shift2: %d\n"                         \
 151   "  sparrow_intersect_t *map: %p\n"            \
 152   "  sparrow_corner_t *mesh: %p\n"              \
 153   "  sparrow_cluster_t *clusters: %p\n"         \
 154   "  IplImage *debug: %p\n"                     \
 155   "  IplImage *threshold: %p\n"                 \
 156   "  IplImage *working: %p\n"                   \
 157   "  IplImage *input: %p\n"                     \
 158   "  edges_state_t state: %d\n"                 \
 159   ,                                             \
 160   (fl)->h_lines,                                  \
 161   (fl)->v_lines,                                  \
 162   (fl)->shuffled_lines,                           \
 163   (fl)->current,                                  \
 164   (fl)->n_lines,                                  \
 165   (fl)->n_vlines,                                 \
 166   (fl)->n_hlines,                                 \
 167   (fl)->shift1,                                   \
 168   (fl)->shift2,                                   \
 169   (fl)->map,                                      \
 170   (fl)->mesh,                                     \
 171   (fl)->clusters,                                 \
 172   (fl)->debug,                                    \
 173   (fl)->threshold,                                \
 174   (fl)->working,                                  \
 175   (fl)->input,                                    \
 176   (fl)->state                                     \
 177 )
 178 //#undef debug_find_lines
 179 //#define debug_find_lines(x) /* */
 180
 181
 182 #endif /*have this .h*/